com.bulletphysics.dynamics.constraintsolver
Class Point2PointConstraint

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.TypedConstraint
      com.bulletphysics.dynamics.constraintsolver.Point2PointConstraint

public class Point2PointConstraint
extends TypedConstraint

Point to point constraint between two rigid bodies each with a pivot point that descibes the "ballsocket" location in local space.

Nested Class Summary

static class

Point2PointConstraint.ConstraintSetting

Field Summary

Point2PointConstraint.ConstraintSetting

setting

Constructor Summary

Point2PointConstraint()

Point2PointConstraint(RigidBody rbA, RigidBody rbB, Vector3f pivotInA, Vector3f pivotInB)

Point2PointConstraint(RigidBody rbA, Vector3f pivotInA)

Method Summary

void	buildJacobian()
Vector3f	getPivotInA(Vector3f out)
Vector3f	getPivotInB(Vector3f out)
void	setPivotA(Vector3f pivotA)
void	setPivotB(Vector3f pivotB)
void	solveConstraint(float timeStep)
void	updateRHS(float timeStep)

Methods inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint

getAppliedImpulse, getConstraintType, getRigidBodyA, getRigidBodyB, getUid, getUserConstraintId, getUserConstraintType, setUserConstraintId, setUserConstraintType

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

setting

public Point2PointConstraint.ConstraintSetting setting

Constructor Detail

Point2PointConstraint

public Point2PointConstraint()

Point2PointConstraint

public Point2PointConstraint(RigidBody rbA,
                             RigidBody rbB,
                             Vector3f pivotInA,
                             Vector3f pivotInB)

Point2PointConstraint

public Point2PointConstraint(RigidBody rbA,
                             Vector3f pivotInA)

Method Detail

buildJacobian

public void buildJacobian()

Specified by:

buildJacobian in class TypedConstraint

solveConstraint

public void solveConstraint(float timeStep)

Specified by:

solveConstraint in class TypedConstraint

updateRHS

public void updateRHS(float timeStep)

setPivotA

public void setPivotA(Vector3f pivotA)

setPivotB

public void setPivotB(Vector3f pivotB)

getPivotInA

public Vector3f getPivotInA(Vector3f out)

getPivotInB

public Vector3f getPivotInB(Vector3f out)